#

luxiaotao1123

2024-10-29 bfac8bfa522289b8d2c0b66c50c4bf8b8d75c0e1

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MaintainScheduler.java

@@ -4,10 +4,7 @@
import com.zy.acs.common.enums.AgvStatusType;
import com.zy.acs.manager.core.service.MainService;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.FuncStaStateType;
import com.zy.acs.manager.manager.enums.FuncStaType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -41,24 +38,39 @@
    private ConfigService configService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private SegmentService segmentService;

    @Scheduled(cron = "0/5 * * * * ? ")
    private synchronized void autoCharge(){
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus()) {
                continue;
            }
            if (agvDetail.getVol() <= agv.getChargeLine() && !agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                continue;
            }
            if (agvDetail.getVol() < agv.getChargeLine() || agvDetail.getVol() < agvModel.getLowBattery()) {
                if (taskService.count(new LambdaQueryWrapper<Task>()
                        .eq(Task::getAgvId, agv.getId())
                        .and(i -> {
//                            i.eq(Task::getTaskSts, TaskStsType.WAITING.val())
                            i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                    .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                                i.eq(Task::getTaskSts, TaskStsType.ASSIGN.val())
                                .or().eq(Task::getTaskSts, TaskStsType.PROGRESS.val());
                        })) > 0) {
                    return;
                    continue;
                }
                if (segmentService.count(new LambdaQueryWrapper<Segment>()
                        .eq(Segment::getAgvId, agv.getId())
                        .and( i -> {
//                                i.eq(Segment::getState, SegmentStateType.WAITING.toString()).or()
                                i.eq(Segment::getState, SegmentStateType.RUNNING.toString());
                        })
                ) > 0) {
                    continue;
                }
                mainService.buildMinorTask(agv, agvDetail, TaskTypeType.TO_CHARGE, null);
            }
@@ -71,7 +83,7 @@
    private void autoStandby(){
        // 1.agv充电到一定电压后，回到待机位
        // 2.agv没有任务时，回到待机位
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, 1));
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().eq(Agv::getStatus, StatusType.ENABLE.val));
        label: for (Agv agv : agvList) {
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail || null == agvDetail.getVol() || null == agvDetail.getAgvStatus() || null == agvDetail.getCode()) {